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Embedded Hierarchical MPC for Autonomous Navigation

17 June 2024

Papers citing "Embedded Hierarchical MPC for Autonomous Navigation"

28 / 28 papers shown

Title
An MPC framework for efficient navigation of mobile robots in cluttered environments Johannes Köhler Daniel Zhang Raffaele Soloperto Andrea Carron Melanie Zeilinger 76 0 0 19 Sep 2025
From Data to Safe Mobile Robot Navigation: An Efficient and Modular Robust MPC Design Pipeline Dennis Benders Johannes Köhler Robert Babuška Javier Alonso-Mora L. Ferranti 80 0 0 09 Aug 2025
Safety-Critical Controller Synthesis with Reduced-Order ModelsAmerican Control Conference (ACC), 2024 Max H. Cohen Noel Csomay-Shanklin William D. Compton Tamás G. Molnár Aaron D. Ames 215 8 0 25 Nov 2024
Hey Robot! Personalizing Robot Navigation through Model Predictive Control with a Large Language ModelIEEE International Conference on Robotics and Automation (ICRA), 2024 Diego Martínez Baselga O. de Groot Luzia Knoedler Javier Alonso-Mora L. Riazuelo Luis Montano LM&Ro 235 0 0 20 Sep 2024
MPCC++: Model Predictive Contouring Control for Time-Optimal Flight with Safety Constraints Maria Krinner Angel Romero L. Bauersfeld Melanie Zeilinger Andrea Carron Davide Scaramuzza 246 30 0 26 Mar 2024
Inherently robust suboptimal MPC for autonomous racing with anytime feasible SQPIEEE Robotics and Automation Letters (RA-L), 2024 Logan Numerow Andrea Zanelli Andrea Carron Melanie Zeilinger 222 12 0 04 Jan 2024
Sampling-Based Motion Planning: A Comparative Review A. Orthey Constantinos Chamzas Lydia E. Kavraki 244 115 0 22 Sep 2023
Safe Hierarchical Model Predictive Control and Planning for Autonomous SystemsInternational Journal of Robust and Nonlinear Control (IJRNC), 2022 M. Koegel M. Ibrahim Christian Kallies R. Findeisen 114 18 0 27 Mar 2022
Where to Look Next: Learning Viewpoint Recommendations for Informative Trajectory PlanningIEEE International Conference on Robotics and Automation (ICRA), 2022 Max Lodel B. Brito Álvaro Serra-Gómez L. Ferranti Robert Babuška Javier Alonso-Mora 131 39 0 04 Mar 2022
PiP-X: Online feedback motion planning/replanning in dynamic environments using invariant funnelsWorkshop on the Algorithmic Foundations of Robotics (WAFR), 2022 M. K. M. Jaffar Michael W. Otte 273 8 0 01 Feb 2022
Model Predictive Contouring Control for Time-Optimal Quadrotor FlightIEEE Transactions on robotics (TRO), 2021 Angel Romero Sihao Sun Philipp Foehn Davide Scaramuzza 473 177 0 30 Aug 2021
Time-Optimal Planning for Quadrotor Waypoint FlightScience Robotics (Sci. Robot.), 2021 Philipp Foehn Angel Romero Davide Scaramuzza 352 224 0 10 Aug 2021
Design and Experimental Evaluation of a Hierarchical Controller for an Autonomous Ground Vehicle with Large UncertaintiesIEEE Transactions on Control Systems Technology (IEEE TCST), 2021 Juncheng Li Maopeng Ran Lihua Xie 90 17 0 09 Aug 2021
Scenario-Based Trajectory Optimization in Uncertain Dynamic EnvironmentsIEEE Robotics and Automation Letters (RA-L), 2021 O. de Groot B. Brito L. Ferranti D. Gavrila Javier Alonso-Mora 174 30 0 23 Mar 2021
Where to go next: Learning a Subgoal Recommendation Policy for Navigation Among PedestriansIEEE Robotics and Automation Letters (RA-L), 2021 B. Brito Michael Everett Jonathan P. How Javier Alonso-Mora 236 69 0 25 Feb 2021
FaSTrack: a Modular Framework for Real-Time Motion Planning and Guaranteed Safe TrackingIEEE Transactions on Automatic Control (IEEE TAC), 2021 Mo Chen Sylvia Herbert Haimin Hu Ye Pu J. F. Fisac Somil Bansal Soojean Han Claire Tomlin 192 74 0 14 Feb 2021
EVA-Planner: Environmental Adaptive Quadrotor Planning Lun Quan Zhiwei Zhang Xingguang Zhong Chao Xu Fei Gao 187 40 0 09 Nov 2020
Model Predictive Contouring Control for Collision Avoidance in Unstructured Dynamic EnvironmentsIEEE Robotics and Automation Letters (RA-L), 2019 B. Brito B. Floor L. Ferranti Javier Alonso-Mora 155 185 0 20 Oct 2020
Optimization-Based Hierarchical Motion Planning for Autonomous RacingIEEE/RJS International Conference on Intelligent RObots and Systems (IROS), 2020 J. Vázquez Marius Brühlmeier Alexander Liniger Alisa Rupenyan John Lygeros 213 79 0 10 Mar 2020
FASTER: Fast and Safe Trajectory Planner for Navigation in Unknown EnvironmentsIEEE Transactions on robotics (IEEE Trans. Robot.), 2020 J. Tordesillas B. Lopez M. Everett Jonathan P. How 273 150 0 09 Jan 2020
Robust and Efficient Quadrotor Trajectory Generation for Fast Autonomous FlightIEEE Robotics and Automation Letters (RA-L), 2019 Boyu Zhou Fei Gao Luqi Wang Chuhao Liu Shaojie Shen 236 503 0 02 Jul 2019
Bridging the Gap Between Safety and Real-Time Performance in Receding-Horizon Trajectory Design for Mobile Robots Shreyas Kousik S. Vaskov Fan Bu Matthew Johnson-Roberson Ram Vasudevan 135 126 0 18 Sep 2018
Robust Tracking with Model Mismatch for Fast and Safe Planning: an SOS Optimization Approach Sumeet Singh Mo Chen Sylvia Herbert Claire Tomlin Marco Pavone 223 56 0 02 Aug 2018
Optimization-Based Autonomous Racing of 1:43 Scale RC Cars Alexander Liniger A. Domahidi M. Morari 165 528 0 20 Nov 2017
Linear vs Nonlinear MPC for Trajectory Tracking Applied to Rotary Wing Micro Aerial Vehicles Mina Kamel M. Burri Roland Siegwart 132 195 0 28 Nov 2016
A Survey of Motion Planning and Control Techniques for Self-driving Urban Vehicles B. Paden Michal Cap Sze Zheng Yong Dmitry S. Yershov Emilio Frazzoli 281 2,200 0 25 Apr 2016
Funnel Libraries for Real-Time Robust Feedback Motion Planning Anirudha Majumdar Russ Tedrake 185 386 0 15 Jan 2016
Sampling-based Algorithms for Optimal Motion Planning S. Karaman Emilio Frazzoli 393 5,089 0 05 May 2011